Surgical staple actuating sled with actuation stroke having minimized distance relative to distal staple

ABSTRACT

A surgical instrument includes an end effector with a staple cartridge. The staple cartridge includes a deck, a terminal driver assembly, and a wedge sled. The terminal driver assembly is positioned adjacent to a distal tip of the staple cartridge. The terminal driver assembly is configured to receive a first terminal portion of staples in the staple cartridge. The terminal driver assembly at least partially defines a storage space therebelow within jaw of the end effector. The wedge sled is configured to longitudinally slide proximate to the deck and engage the terminal driver assembly and force the terminal portion of the plurality of staples toward the anvil for formation in tissue. At least a majority of the wedge sled is configured to fit within the storage space and not slide distally beyond the terminal driver assembly when the wedge sled is in the distal sled position.

BACKGROUND

In some settings, endoscopic surgical instruments may be preferred overtraditional open surgical devices since a smaller incision may reducethe post-operative recovery time and complications. Consequently, someendoscopic surgical instruments may be suitable for placement of adistal end effector at a desired surgical site through the cannula of atrocar. These distal end effectors may engage tissue in a number of waysto achieve a diagnostic or therapeutic effect (e.g., endocutter,grasper, cutter, stapler, clip applier, access device, drug/gene therapydelivery device, and energy delivery device using ultrasonic vibration,RF, laser, etc.). Endoscopic surgical instruments may include a shaftbetween the end effector and a handle portion, which is manipulated bythe clinician. Such a shaft may enable insertion to a desired depth androtation about the longitudinal axis of the shaft, thereby facilitatingpositioning of the end effector within the patient. Positioning of anend effector may be further facilitated through inclusion of one or morearticulation joints or features, enabling the end effector to beselectively articulated or otherwise deflected relative to thelongitudinal axis of the shaft.

Examples of endoscopic surgical instruments include surgical staplers.Some such staplers are operable to clamp down on layers of tissue, cutthrough the clamped layers of tissue, and drive staples through thelayers of tissue to substantially seal the severed layers of tissuetogether near the severed ends of the tissue layers. Merely exemplarysurgical staplers are disclosed in U.S. Pat. No. 4,805,823, entitled“Pocket Configuration for Internal Organ Staplers,” issued Feb. 21,1989; U.S. Pat. No. 5,415,334, entitled “Surgical Stapler and StapleCartridge,” issued May 16, 1995; U.S. Pat. No. 5,465,895, entitled“Surgical Stapler Instrument,” issued Nov. 14, 1995; U.S. Pat. No.5,597,107, entitled “Surgical Stapler Instrument,” issued Jan. 28, 1997;U.S. Pat. No. 5,632,432, entitled “Surgical Instrument,” issued May 27,1997; U.S. Pat. No. 5,673,840, entitled “Surgical Instrument,” issuedOct. 7, 1997; U.S. Pat. No. 5,704,534, entitled “Articulation Assemblyfor Surgical Instruments,” issued Jan. 6, 1998; U.S. Pat. No. 5,814,055,entitled “Surgical Clamping Mechanism,” issued Sep. 29, 1998; U.S. Pat.No. 6,978,921, entitled “Surgical Stapling Instrument Incorporating anE-Beam Firing Mechanism,” issued Dec. 27, 2005; U.S. Pat. No. 7,000,818,entitled “Surgical Stapling Instrument Having Separate Distinct Closingand Firing Systems,” issued Feb. 21, 2006; U.S. Pat. No. 7,143,923,entitled “Surgical Stapling Instrument Having a Firing Lockout for anUnclosed Anvil,” issued Dec. 5, 2006; U.S. Pat. No. 7,303,108, entitled“Surgical Stapling Instrument Incorporating a Multi-Stroke FiringMechanism with a Flexible Rack,” issued Dec. 4, 2007; U.S. Pat. No.7,367,485, entitled “Surgical Stapling Instrument Incorporating aMultistroke Firing Mechanism Having a Rotary Transmission,” issued May6, 2008; U.S. Pat. No. 7,380,695, entitled “Surgical Stapling InstrumentHaving a Single Lockout Mechanism for Prevention of Firing,” issued Jun.3, 2008; U.S. Pat. No. 7,380,696, entitled “Articulating SurgicalStapling Instrument Incorporating a Two-Piece E-Beam Firing Mechanism,”issued Jun. 3, 2008; U.S. Pat. No. 7,404,508, entitled “SurgicalStapling and Cutting Device,” issued Jul. 29, 2008; U.S. Pat. No.7,434,715, entitled “Surgical Stapling Instrument Having MultistrokeFiring with Opening Lockout,” issued Oct. 14, 2008; U.S. Pat. No.7,721,930, entitled “Disposable Cartridge with Adhesive for Use with aStapling Device,” issued May 25, 2010; U.S. Pat. No. 8,408,439, entitled“Surgical Stapling Instrument with An Articulatable End Effector,”issued Apr. 2, 2013; and U.S. Pat. No. 8,453,914, entitled “Motor-DrivenSurgical Cutting Instrument with Electric Actuator Directional ControlAssembly,” issued Jun. 4, 2013. The disclosure of each of theabove-cited U.S. Patents is incorporated by reference herein.

While the surgical staplers referred to above are described as beingused in endoscopic procedures, it should be understood that suchsurgical staplers may also be used in open procedures and/or othernon-endoscopic procedures. By way of example only, a surgical staplermay be inserted through a thoracotomy, and thereby between a patient'sribs, to reach one or more organs in a thoracic surgical procedure thatdoes not use a trocar as a conduit for the stapler. Such procedures mayinclude the use of the stapler to sever and close a vessel leading to alung. For instance, the vessels leading to an organ may be severed andclosed by a stapler before removal of the organ from the thoraciccavity. Of course, surgical staplers may be used in various othersettings and procedures.

Examples of surgical staplers that may be particularly suited or usethrough a thoracotomy are disclosed in U.S. patent application Ser. No.14/810,786, entitled “Surgical Staple Cartridge with Compression Featureat Knife Slot,” filed Jul. 29, 2015, published as U.S. Patent Pub. No.2017/0027567 on Feb. 2, 2017; U.S. Patent Pub. No. 2014/0243801,entitled “Surgical Instrument End Effector Articulation Drive withPinion and Opposing Racks,” published Aug. 28, 2014, now U.S. Pat. No.9,186,142, issued Nov. 17, 2015; U.S. Patent Pub. No. 2014/0239041,entitled “Lockout Feature for Movable Cutting Member of SurgicalInstrument,” published Aug. 28, 2014, now U.S. Pat. No. 9,717,497,issued Aug. 1, 2017; U.S. Patent Pub. No. 2014/0239042, entitled“Integrated Tissue Positioning and Jaw Alignment Features for SurgicalStapler,” published Aug. 28, 2014, now U.S. Pat. No. 9,517,065, issuedDec. 13, 2016; U.S. Patent Pub. No. 2014/0239036, entitled “Jaw ClosureFeature for End Effector of Surgical Instrument,” published Aug. 28,2014, now U.S. Pat. No. 9,838,421, issued Dec. 12, 2017; U.S. PatentPub. No. 2014/0239040, entitled “Surgical Instrument with ArticulationLock having a Detenting Binary Spring,” published Aug. 28, 2014, nowU.S. Pat. No. 9,867,615, issued Jan. 16, 2018; U.S. Patent Pub. No.2014/0239043, entitled “Distal Tip Features for End Effector of SurgicalInstrument,” published Aug. 28, 2014, now U.S. Pat. No. 9,622,746,issued Apr. 18, 2017; U.S. Patent Pub. No. 2014/0239037, entitled“Staple Forming Features for Surgical Stapling Instrument,” publishedAug. 28, 2014, now U.S. Pat. No. 10,092,293, issued Oct. 9, 2018; U.S.Patent Pub. No. 2014/0239038, entitled “Surgical Instrument withMulti-Diameter Shaft,” published Aug. 28, 2014, now U.S. Pat. No.9,795,379, issued Oct. 24, 2017; and U.S. Patent Pub. No. 2014/0239044,entitled “Installation Features for Surgical Instrument End EffectorCartridge,” published Aug. 28, 2014, now U.S. Pat. No. 9,808,248, issuedNov. 7, 2017. The disclosure of each of the above-cited U.S. PatentApplications is incorporated by reference herein.

While various kinds of surgical stapling instruments and associatedcomponents have been made and used, it is believed that no one prior tothe inventor(s) has made or used the invention described in the appendedclaims.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments of the invention,and, together with the general description of the invention given above,and the detailed description of the embodiments given below, serve toexplain the principles of the present invention.

FIG. 1 depicts a perspective view of an exemplary articulating surgicalstapling instrument;

FIG. 2 depicts a side elevational view of the instrument of FIG. 1;

FIG. 3 depicts a perspective view of an end effector of the instrumentof FIG. 1, with the end effector in a closed configuration;

FIG. 4 depicts a perspective view of the end effector of FIG. 3, withthe end effector in an open configuration;

FIG. 5 depicts an exploded perspective view of the end effector of FIG.3;

FIG. 6 depicts a cross-sectional end view of the end effector of FIG. 3,taken along line 6-6 of FIG. 4;

FIG. 7A depicts a cross-sectional side view of the end effector of FIG.3, taken along line 7-7 of FIG. 4, with a firing beam in a proximalposition;

FIG. 7B depicts a cross-sectional side view of the end effector of FIG.3, taken along line 7-7 of FIG. 4, with the firing beam in a distalposition;

FIG. 8 depicts a perspective view of the end effector of FIG. 3,positioned at tissue and having been actuated once in the tissue;

FIG. 9 depicts a side elevational view of another exemplary articulatingsurgical stapling instrument;

FIG. 10 depicts a perspective view of an end effector of the instrumentof FIG. 9, with the end effector in an open configuration;

FIG. 11 depicts a top view of a lower jaw of the end effector of FIG.10;

FIG. 12 depicts a bottom view of an upper jaw of the end effector ofFIG. 10;

FIG. 13 depicts an exploded perspective view of the lower jaw of FIG.11;

FIG. 14 depicts a side cross-sectional view of the wedge sled of FIG. 13at a second longitudinal position, with the triple driver assemblies ofFIG. 13 in an upper position, taken generally along a centerline of thelower jaw of FIG. 11;

FIG. 15 depicts a perspective view of the lower jaw of FIG. 11, inpartial cross-section taken along section line 15-15 of FIG. 11;

FIG. 16A depicts a schematic representation of a liver having a vesselextending through the liver tissue;

FIG. 16B depicts the schematic representation of the end effector ofFIG. 10 severing the liver tissue of FIG. 16A;

FIG. 16C depicts the schematic representation of the vessel of FIG. 16Bexposed from the severed liver tissue of FIG. 16A;

FIG. 16D depicts the schematic representation of the end effector ofFIG. 10 stapling the exposed vessel of FIG. 16C; and

FIG. 16E depicts the schematic representation of the liver of FIG. 16Ahaving a portion of the liver tissue and the vessel resected therefrom.

The drawings are not intended to be limiting in any way, and it iscontemplated that various embodiments of the invention may be carriedout in a variety of other ways, including those not necessarily depictedin the drawings. The accompanying drawings incorporated in and forming apart of the specification illustrate several aspects of the presentinvention, and together with the description serve to explain theprinciples of the invention; it being understood, however, that thisinvention is not limited to the precise arrangements shown.

DETAILED DESCRIPTION

The following description of certain examples of the invention shouldnot be used to limit the scope of the present invention. Other examples,features, aspects, embodiments, and advantages of the invention willbecome apparent to those skilled in the art from the followingdescription, which is by way of illustration, one of the best modescontemplated for carrying out the invention. As will be realized, theinvention is capable of other different and obvious aspects, all withoutdeparting from the invention. Accordingly, the drawings and descriptionsshould be regarded as illustrative in nature and not restrictive.

I. Exemplary Surgical Stapler

FIG. 1 depicts an exemplary surgical stapling and severing instrument(10) that includes a handle assembly (20), a shaft assembly (30), and anend effector (40). End effector (40) and the distal portion of shaftassembly (30) are sized for insertion, in a nonarticulated state asdepicted in FIG. 1, through a trocar cannula to a surgical site in apatient for performing a surgical procedure. By way of example only,such a trocar may be inserted in a patient's abdomen, between two of thepatient's ribs, or elsewhere. In some settings, instrument (10) is usedwithout a trocar. For instance, end effector (40) and the distal portionof shaft assembly (30) may be inserted directly through a thoracotomy orother type of incision. It should be understood that terms such as“proximal” and “distal” are used herein with reference to a cliniciangripping handle assembly (20) of instrument (10). Thus, end effector(40) is distal with respect to the more proximal handle assembly (20).It will be further appreciated that for convenience and clarity, spatialterms such as “vertical” and “horizontal” are used herein with respectto the drawings. However, surgical instruments are used in manyorientations and positions, and these terms are not intended to belimiting and absolute.

A. Exemplary Handle Assembly and Shaft Assembly

As shown in FIGS. 1-2, handle assembly (20) of the present examplecomprises pistol grip (22), a closure trigger (24), and a firing trigger(26). Each trigger (24, 26) is selectively pivotable toward and awayfrom pistol grip (22) as will be described in greater detail below.Handle assembly (20) further includes an anvil release button (25), afiring beam reverse switch (27), and a removable battery pack (28).These components will also be described in greater detail below. Ofcourse, handle assembly (20) may have a variety of other components,features, and operabilities, in addition to or in lieu of any of thosenoted above. Other suitable configurations for handle assembly (20) willbe apparent to those of ordinary skill in the art in view of theteachings herein.

As shown in FIGS. 1-3, shaft assembly (30) of the present examplecomprises an outer closure tube (32), an articulation section (34), anda closure ring (36), which is further coupled with end effector (40).Closure tube (32) extends along the length of shaft assembly (30).Closure ring (36) is positioned distal to articulation section (34).Closure tube (32) and closure ring (36) are configured to translatelongitudinally relative to handle assembly (20). Longitudinaltranslation of closure tube (32) is communicated to closure ring (36)via articulation section (34). Exemplary features that may be used toprovide longitudinal translation of closure tube (32) and closure ring(36) will be described in greater detail below.

Articulation section (34) is operable to laterally deflect closure ring(36) and end effector (40) laterally away from the longitudinal axis(LA) of shaft assembly (30) at a desired angle (a). End effector (40)may thereby reach behind an organ or approach tissue from a desiredangle or for other reasons. In some versions, articulation section (34)enables deflection of end effector (40) along a single plane. In someother versions, articulation section (34) enables deflection of endeffector along more than one plane. In the present example, articulationis controlled through an articulation control knob (35) which is locatedat the proximal end of shaft assembly (30). Knob (35) is rotatable aboutan axis that is perpendicular to the longitudinal axis (LA) of shaftassembly (30). Closure ring (36) and end effector (40) pivot about anaxis that is perpendicular to the longitudinal axis (LA) of shaftassembly (30) in response to rotation of knob (35). By way of exampleonly, rotation of knob (35) clockwise may cause corresponding clockwisepivoting of closure ring (36) and end effector (40) at articulationsection (34). Articulation section (34) is configured to communicatelongitudinal translation of closure tube (32) to closure ring (36),regardless of whether articulation section (34) is in a straightconfiguration or an articulated configuration.

In some versions, articulation section (34) and/or articulation controlknob (35) are/is constructed and operable in accordance with at leastsome of the teachings of U.S. Patent Pub. No. 2014/0243801, entitled“Surgical Instrument End Effector Articulation Drive with Pinion andOpposing Racks,” published Aug. 28, 2014, now U.S. Pat. No. 9,186,142,issued Nov. 17, 2015, the disclosure of which is incorporated byreference herein. Articulation section (34) may also be constructed andoperable in accordance with at least some of the teachings of U.S.patent application Ser. No. 14/314,125, entitled “Articulation DriveFeatures for Surgical Stapler,” filed Jun. 25, 2014, published as U.S.Patent Pub. No. 2015/0374360 on Dec. 31, 2015, the disclosure of whichis incorporated by reference herein; and/or in accordance with thevarious teachings below. Other suitable forms that articulation section(34) and articulation knob (35) may take will be apparent to those ofordinary skill in the art in view of the teachings herein.

As shown in FIGS. 1-2, shaft assembly (30) of the present examplefurther includes a rotation knob (31). Rotation knob (31) is operable torotate the entire shaft assembly (30) and end effector (40) relative tohandle assembly (20) about the longitudinal axis (LA) of shaft assembly(30). In some versions, rotation knob (31) is operable to selectivelylock the angular position of shaft assembly (30) and end effector (40)relative to handle assembly (20) about the longitudinal axis (LA) ofshaft assembly (30). For instance, rotation knob (31) may betranslatable between a first longitudinal position, in which shaftassembly (30) and end effector (40) are rotatable relative to handleassembly (20) about the longitudinal axis (LA) of shaft assembly (30);and a second longitudinal position, in which shaft assembly (30) and endeffector (40) are not rotatable relative to handle assembly (20) aboutthe longitudinal axis (LA) of shaft assembly (30). Of course, shaftassembly (30) may have a variety of other components, features, andoperabilities, in addition to or in lieu of any of those noted above. Byway of example only, at least part of shaft assembly (30) is constructedin accordance with at least some of the teachings of U.S. Patent Pub.No. 2014/0239038, entitled “Surgical Instrument with Multi-DiameterShaft,” published Aug. 28, 2014, now U.S. Pat. No. 9,795,379, issuedOct. 24, 2017, the disclosure of which is incorporated by referenceherein. Other suitable configurations for shaft assembly (30) will beapparent to those of ordinary skill in the art in view of the teachingsherein.

B. Exemplary End Effector

As also shown in FIGS. 3-5, end effector (40) of the present exampleincludes a lower jaw (50) and a pivotable anvil (60). Anvil (60)includes a pair of integral, outwardly extending pins (66) that aredisposed in corresponding curved slots (54) of lower jaw (50). Anvil(60) is pivotable toward and away from lower jaw (50) between an openposition (shown in FIGS. 2 and 4) and a closed position (shown in FIGS.1, 3, and 7A-7B). Use of the term “pivotable” (and similar terms with“pivot” as a base) should not be read as necessarily requiring pivotalmovement about a fixed axis. For instance, in the present example, anvil(60) pivots about an axis that is defined by pins (66), which slidealong curved slots (54) of lower jaw (50) as anvil (60) moves towardlower jaw (50). In such versions, the pivot axis translates along thepath defined by slots (54) while anvil (60) simultaneously pivots aboutthat axis. In addition or in the alternative, the pivot axis may slidealong slots (54) first, with anvil (60) then pivoting about the pivotaxis after the pivot axis has slid a certain distance along the slots(54). It should be understood that such sliding/translating pivotalmovement is encompassed within terms such as “pivot,” “pivots,”“pivotal,” “pivotable,” “pivoting,” and the like. Of course, someversions may provide pivotal movement of anvil (60) about an axis thatremains fixed and does not translate within a slot or channel, etc.

As best seen in FIG. 5, lower jaw (50) of the present example defines achannel (52) that is configured to receive a staple cartridge (70).Staple cartridge (70) may be inserted into channel (52), end effector(40) may be actuated, and then staple cartridge (70) may be removed andreplaced with another staple cartridge (70). Lower jaw (50) thusreleasably retains staple cartridge (70) in alignment with anvil (60)for actuation of end effector (40). In some versions, lower jaw (50) isconstructed in accordance with at least some of the teachings of U.S.Pub. No. 2014/0239044, entitled “Installation Features for SurgicalInstrument End Effector Cartridge,” published Aug. 28, 2014, thedisclosure of which is incorporated by reference herein. Other suitableforms that lower jaw (50) may take will be apparent to those of ordinaryskill in the art in view of the teachings herein.

As best seen in FIGS. 4-6, staple cartridge (70) of the present examplecomprises a cartridge body (71) and a tray (76) secured to the undersideof cartridge body (71). The upper side of cartridge body (71) presents adeck (73), against which tissue may be compressed when anvil (60) is ina closed position. Cartridge body (71) further defines a longitudinallyextending channel (72) and a plurality of staple pockets (74). A staple(77) is positioned in each staple pocket (74). A staple driver (75) isalso positioned in each staple pocket (74), underneath a correspondingstaple (77), and above tray (76). As will be described in greater detailbelow, staple drivers (75) are operable to translate upwardly in staplepockets (74) to thereby drive staples (77) upwardly through staplepockets (74) and into engagement with anvil (60). Staple drivers (75)are driven upwardly by a wedge sled (78), which is captured betweencartridge body (71) and tray (76), and which translates longitudinallythrough cartridge body (71). Wedge sled (78) includes a pair ofobliquely angled cam surfaces (79), which are configured to engagestaple drivers (75) and thereby drive staple drivers (75) upwardly aswedge sled (78) translates longitudinally through cartridge (70). Forinstance, when wedge sled (78) is in a proximal position as shown inFIG. 7A, staple drivers (75) are in downward positions and staples (77)are located in staple pockets (74). As wedge sled (78) is driven to thedistal position shown in FIG. 7B by a translating knife member (80),wedge sled (78) drives staple drivers (75) upwardly, thereby drivingstaples (77) out of staple pockets (74) and into staple forming pockets(64). Thus, staple drivers (75) translate along a vertical dimension aswedge sled (78) translates along a horizontal dimension.

It should be understood that the configuration of staple cartridge (70)may be varied in numerous ways. For instance, staple cartridge (70) ofthe present example includes two longitudinally extending rows of staplepockets (74) on one side of channel (72); and another set of twolongitudinally extending rows of staple pockets (74) on the other sideof channel (72). However, in some other versions, staple cartridge (70)includes three, one, or some other number of staple pockets (74) on eachside of channel (72). In some versions, staple cartridge (70) isconstructed and operable in accordance with at least some of theteachings of U.S. Patent Pub. No. 2014/0239042, entitled “IntegratedTissue Positioning and Jaw Alignment Features for Surgical Stapler,”published Aug. 28, 2014, now U.S. Pat. No. 9,517,065, issued Dec. 13,2016, the disclosure of which is incorporated by reference herein. Inaddition or in the alternative, staple cartridge (70) may be constructedand operable in accordance with at least some of the teachings of U.S.Patent Pub. No. 2014/0239044, entitled “Installation Features forSurgical Instrument End Effector Cartridge,” published Aug. 28, 2014,now U.S. Pat. No. 9,808,248, issued Nov. 7, 2017, the disclosure ofwhich is incorporated by reference herein. Other suitable forms thatstaple cartridge (70) may take will be apparent to those of ordinaryskill in the art in view of the teachings herein.

As best seen in FIG. 4, anvil (60) of the present example comprises alongitudinally extending channel (62) and a plurality of staple formingpockets (64). Channel (62) is configured to align with channel (72) ofstaple cartridge (70) when anvil (60) is in a closed position. Eachstaple forming pocket (64) is positioned to lie over a correspondingstaple pocket (74) of staple cartridge (70) when anvil (60) is in aclosed position. Staple forming pockets (64) are configured to deformthe legs of staples (77) when staples (77) are driven through tissue andinto anvil (60). In particular, staple forming pockets (64) areconfigured to bend the legs of staples (77) to secure the formed staples(77) in the tissue. Anvil (60) may be constructed in accordance with atleast some of the teachings of U.S. Patent Pub. No. 2014/0239042,entitled “Integrated Tissue Positioning and Jaw Alignment Features forSurgical Stapler,” published Aug. 28, 2014, now U.S. Pat. No. 9,517,065,issued Dec. 13, 2016; at least some of the teachings of U.S. Patent Pub.No. 2014/0239036, entitled “Jaw Closure Feature for End Effector ofSurgical Instrument,” published Aug. 28, 2014, now U.S. Pat. No.9,839,421, issued Dec. 12, 2017; and/or at least some of the teachingsof U.S. Patent Pub. No. 2014/0239037, entitled “Staple Forming Featuresfor Surgical Stapling Instrument,” published Aug. 28, 2014, now U.S.Pat. No. 10,092,293, issued Oct. 9, 2018, the disclosure of which isincorporated by reference herein. Other suitable forms that anvil (60)may take will be apparent to those of ordinary skill in the art in viewof the teachings herein.

In the present example, knife member (80) is configured to translatethrough end effector (40). As best seen in FIGS. 5 and 7A-7B, knifemember (80) is secured to the distal end of a firing beam (82), whichextends through a portion of shaft assembly (30). As best seen in FIGS.4 and 6, knife member (80) is positioned in channels (62, 72) of anvil(60) and staple cartridge (70). Knife member (80) includes a distallypresented cutting edge (84) that is configured to sever tissue that iscompressed between anvil (60) and deck (73) of staple cartridge (70) asknife member (80) translates distally through end effector (40). Asnoted above and as shown in FIGS. 7A-7B, knife member (80) also driveswedge sled (78) distally as knife member (80) translates distallythrough end effector (40), thereby driving staples (77) through tissueand against anvil (60) into formation. Various features that may be usedto drive knife member (80) distally through end effector (40) will bedescribed in greater detail below.

In some versions, end effector (40) includes lockout features that areconfigured to prevent knife member (80) from advancing distally throughend effector (40) when a staple cartridge (70) is not inserted in lowerjaw (50). In addition or in the alternative, end effector (40) mayinclude lockout features that are configured to prevent knife member(80) from advancing distally through end effector (40) when a staplecartridge (70) that has already been actuated once (e.g., with allstaples (77) deployed therefrom) is inserted in lower jaw (50). By wayof example only, such lockout features may be configured in accordancewith at least some of the teachings of U.S. Patent Pub. No.2014/0239041, entitled “Lockout Feature for Movable Cutting Member ofSurgical Instrument,” published Aug. 28, 2014, now U.S. Pat. No.9,717,497, issued Aug. 1, 2017, the disclosure of which is incorporatedby reference herein; and/or at least some of the teachings of U.S.patent application Ser. No. 14/314,108, entitled “Method of UsingLockout Features for Surgical Staple cartridge,” filed on Jun. 25, 2014,published as U.S. Patent Pub. No. 2015/0374373 on Dec. 31, 2015, thedisclosure of which is incorporated by reference herein. Other suitableforms that lockout features may take will be apparent to those ofordinary skill in the art in view of the teachings herein.Alternatively, end effector (40) may simply omit such lockout features.

C. Exemplary Actuation of Anvil

In the present example, anvil (60) is driven toward lower jaw (50) byadvancing closure ring (36) distally relative to end effector (40).Closure ring (36) cooperates with anvil (60) through a camming action todrive anvil (60) toward lower jaw (50) in response to distal translationof closure ring (36) relative to end effector (40). Similarly, closurering (36) may cooperate with anvil (60) to open anvil (60) away fromlower jaw (50) in response to proximal translation of closure ring (36)relative to end effector (40). By way of example only, closure ring (36)and anvil (60) may interact in accordance with at least some of theteachings of U.S. Patent Pub. No. 2014/0239036, entitled “Jaw ClosureFeature for End Effector of Surgical Instrument,” published Aug. 28,2014, now U.S. Pat. No. 9,839,421, issued Dec. 12, 2017, the disclosureof which is incorporated by reference herein; and/or in accordance withat least some of the teachings of U.S. patent application Ser. No.14/314,108, entitled “Jaw Opening Feature for Surgical Stapler,” filedon Jun. 25, 2014, published as U.S. Patent Pub. No. 2015/0374373 on Dec.31, 2015, the disclosure of which is incorporated by reference herein.Exemplary features that may be used to provide longitudinal translationof closure ring (36) relative to end effector (40) will be described ingreater detail below.

As noted above, handle assembly (20) includes pistol grip (22) andclosure trigger (24). As also noted above, anvil (60) is closed towardlower jaw (50) in response to distal advancement of closure ring (36).In the present example, closure trigger (24) is pivotable toward pistolgrip (22) to drive closure tube (32) and closure ring (36) distally.Various suitable components that may be used to convert pivotal movementof closure trigger (24) toward pistol grip (22) into distal translationof closure tube (32) and closure ring (36) relative to handle assembly(20) will be apparent to those of ordinary skill in the art in view ofthe teachings herein. When closure trigger (24) reaches a fully pivotedstate, such that anvil (60) is in a fully closed position relative tolower jaw (50), locking features in handle assembly (20) lock theposition of closure trigger (24) and closure tube (32), thereby lockinganvil (60) in a fully closed position relative to lower jaw (50). Theselocking features are released by actuation of anvil release button (25).Anvil release button (25) is configured and positioned to be actuated bythe thumb of the operator hand that grasps pistol grip (22). In otherwords, the operator may grasp pistol grip (22) with one hand, actuateclosure trigger (24) with one or more fingers of the same hand, and thenactuate anvil release button (25) with the thumb of the same hand,without ever needing to release the grasp of pistol grip (22) with thesame hand. Other suitable features that may be used to actuate anvil(60) will be apparent to those of ordinary skill in the art in view ofthe teachings herein.

D. Exemplary Actuation of Firing Beam

In the present example, instrument (10) provides motorized control offiring beam (82). In particular, instrument (10) includes motorizedcomponents that are configured to drive firing beam (82) distally inresponse to pivoting of firing trigger (26) toward pistol grip (22). Insome versions, a motor (not shown) is contained in pistol grip (22) andreceives power from battery pack (28). This motor is coupled with atransmission assembly (not shown) that converts rotary motion of a driveshaft of the motor into linear translation of firing beam (82). In somesuch versions, firing beam (82) may only be advanced distally when anvil(60) is in a fully closed position relative to lower jaw (50). Afterfiring beam (82) is advanced distally to sever tissue and drive staples(77) as described above with reference to FIGS. 7A-7B, the driveassembly for firing beam (82) may be automatically reversed to drivefiring beam (82) proximally back to the retracted position (e.g., backfrom the position shown in FIG. 7B to the position shown in FIG. 7A).Alternatively, the operator may actuate firing beam reverse switch (27),which may reverse the drive assembly for firing beam (82) in order toretract firing beam (82) to a proximal position. Handle assembly (20) ofthe present example further includes a bailout feature (21), which isoperable to provide a mechanical bailout allowing the operator tomanually retract firing beam (82) proximally (e.g., in the event ofpower loss while firing beam (82) is in a distal position, etc.).

By way of example only, the features that are operable to providemotorized actuation of firing beam (82) may be configured and operablein accordance with at least some of the teachings of U.S. Pat. No.8,210,411, entitled “Motor-Driven Surgical Instrument,” issued Jul. 3,2012, the disclosure of which is incorporated by reference herein. Asanother merely illustrative example, the features that are operable toprovide motorized actuation of firing beam (82) may be configured andoperable in accordance with at least some of the teachings of U.S. Pat.No. 8,453,914, entitled “Motor-Driven Surgical Cutting Instrument withElectric Actuator Directional Control Assembly,” issued Jun. 4, 2013,the disclosure of which is incorporated by reference herein. As yetanother merely illustrative example, the features that are operable toprovide motorized actuation of firing beam (82) may be configured andoperable in accordance with at least some of the teachings of U.S.patent application Ser. No. 14/226,142, entitled “Surgical InstrumentComprising a Sensor System,” filed Mar. 26, 2014, now U.S. Pat. No.9,913,642, issued Mar. 13, 2018, the disclosure of which is incorporatedby reference herein.

Other suitable components, features, and configurations that may be usedto provide motorization of firing beam (82) will be apparent to those ofordinary skill in the art in view of the teachings herein. It shouldalso be understood that some other versions may provide manual drivingof firing beam (82), such that a motor may be omitted. By way of exampleonly, firing beam (82) may be manually actuated in accordance with atleast some of the teachings of any other reference cited herein.

FIG. 8 shows end effector (40) having been actuated through a singlestroke through tissue (90). As shown, cutting edge (84) (obscured inFIG. 8) has cut through tissue (90), while staple drivers (75) havedriven two alternating rows of staples (77) through the tissue (90) oneach side of the cut line produced by cutting edge (84). Staples (77)are all oriented substantially parallel to the cut line in this example,though it should be understood that staples (77) may be positioned atany suitable orientations. In the present example, end effector (40) iswithdrawn from the trocar after the first stroke is complete, the spentstaple cartridge (70) is replaced with a new staple cartridge (70), andend effector (40) is then again inserted through the trocar to reach thestapling site for further cutting and stapling. This process may berepeated until the desired amount of cuts and staples (77) have beenprovided. Anvil (60) may need to be closed to facilitate insertion andwithdrawal through the trocar; and anvil (60) may need to be opened tofacilitate replacement of staple cartridge (70).

It should be understood that cutting edge (84) may cut tissuesubstantially contemporaneously with staples (77) being driven throughtissue during each actuation stroke. In the present example, cuttingedge (84) just slightly lags behind driving of staples (77), such thatstaple (77) is driven through the tissue just before cutting edge (84)passes through the same region of tissue, though it should be understoodthat this order may be reversed or that cutting edge (84) may bedirectly synchronized with adjacent staples. While FIG. 8 shows endeffector (40) being actuated in two layers (92, 94) of tissue (90), itshould be understood that end effector (40) may be actuated through asingle layer of tissue (90) or more than two layers (92, 94) of tissue.It should also be understood that the formation and positioning ofstaples (77) adjacent to the cut line produced by cutting edge (84) maysubstantially seal the tissue at the cut line, thereby reducing orpreventing bleeding and/or leaking of other bodily fluids at the cutline. Furthermore, while FIG. 8 shows end effector (40) being actuatedin two substantially flat, apposed planar layers (92, 94) of tissue, itshould be understood that end effector (40) may also be actuated acrossa tubular structure such as a blood vessel, a section of thegastrointestinal tract, etc. FIG. 8 should therefore not be viewed asdemonstrating any limitation on the contemplated uses for end effector(40). Various suitable settings and procedures in which instrument (10)may be used will be apparent to those of ordinary skill in the art inview of the teachings herein.

It should also be understood that any other components or features ofinstrument (10) may be configured and operable in accordance with any ofthe various references cited herein. Additional exemplary modificationsthat may be provided for instrument (10) will be described in greaterdetail below. Various suitable ways in which the below teachings may beincorporated into instrument (10) will be apparent to those of ordinaryskill in the art. Similarly, various suitable ways in which the belowteachings may be combined with various teachings of the references citedherein will be apparent to those of ordinary skill in the art. It shouldalso be understood that the below teachings are not limited toinstrument (10) or devices taught in the references cited herein. Thebelow teachings may be readily applied to various other kinds ofinstruments, including instruments that would not be classified assurgical staplers. Various other suitable devices and settings in whichthe below teachings may be applied will be apparent to those of ordinaryskill in the art in view of the teachings herein.

II. Exemplary Alternative Stapling End Effector

While the above surgical instrument (10) provides one example of an endeffector (40) that may be used to staple and sever tissue within apatient, it will be appreciated that the human body is comprised a widevariety of tissues located in distinct, sometimes difficult to accessregions throughout the patient. For example, a liver includes tissueincluding vessels or ducts passing throughout. In settings where theliver includes a tumor, it may be desirable to resect the portion of theliver containing the tumor. The resection may be anatomic (e.g.,resection of the right or left side of the liver, inclusive of the lobeson that side) or non-anatomic (e.g., resection of just a single lobe orwedge of liver tissue). This resection process may entail at least threekinds of steps—a first step to dissect the tissue (e.g., liverparenchyma) around the vessels or ducts, to thereby isolate or revealthe vessels or ducts; a second step to ligate those vessels or ducts;and a third step to sever the ligated vessels or ducts.

One such method of liver resection includes the well known Kelly clampmethod, where a Kelly style clamp is used to compress the liver tissueand thereby dissect the tissue through a crushing action. However,treatments may require many instruments to accommodate such a widevariety of tissues and vessels or ducts within the human body, therebyadding to the time and complexity associated with assessing the state ofthe tissue, selecting and/or changing instruments, and performing theresection. It may therefore be desirable to provide a surgicalinstrument (410) with an end effector (412) having a pair of crushsurfaces (414, 416) that are configured to sever tissue by crushing thetissue; while also providing an adjacent staple cartridge (418) toselectively ligate one or more vessels or ducts passing through thetissue. Thereby, a single surgical instrument (410) will allow theoperator to more quickly assess the tissue and proceed with furthertissue dissection and/or ligation of vessels and ducts.

Surgical instruments (410) are described below in the context ofdissecting liver tissue (e.g., liver parenchyma) with crush surfaces(414, 416) and using staples to ligate associated vessels or ducts(e.g., portal vein, hepatic vein branches, hepatic artery branches,extrahepatic vessels, etc.). In some instances (e.g., in the case ofhepatic vein branches and hepatic artery branches, etc.), the vessel orduct that is sealed by the staples is exposed when the operator crushesthe liver tissue with surfaces (414, 416). In some other instances(e.g., in the case of the portal vein and extrahepatic vessels, etc.),the vessel or duct that is sealed by the staples is separate from theliver tissue that the operator has crushed with surfaces (414, 416).While the following description of surgical instruments (410) and methodof treatment is provided in the context of liver resection, it will beappreciated that surgical instruments (410) may be alternativelyconfigured to treat any tissue in the human body with similar features.It should also be understood that that the features discussed below maybe readily incorporated into surgical instrument (10) discussed above.To this end, like numbers indicate like features described above ingreater detail.

In the following examples, end effectors (412) apply at least twolaterally spaced apart rows of staples where the staples in one row havethe same height as the staples in another row. In some variations, endeffectors (412) are modified to apply at least two laterally spacedapart rows of staples where the staples in one row have a height that isdifferent from the height of the staples in another row.

A. Exemplary Stapling Instrument with Shortened Straight End Effector

FIGS. 9-13 show surgical instrument (410) with end effector (412) havingupper crush surface (414), lower crush surface (416), staple cartridge(418), and knife member (419). As noted above, it may be desirable toprovide such a surgical instrument (410) with an end effector (412)having crush surfaces (414, 416) that are configured to sever tissue bycrushing the tissue; while also providing adjacent staple cartridge(418) to selectively ligate one or more vessels passing through thetissue. In addition, knife member (419) is configured to cut the one ormore vessels for complete removal of the surrounding tissue. Thereby,surgical instrument (410) will allow the operator to more quickly assessthe tissue and proceed with further tissue severing and/or tissueligation. Surgical instrument (410) of the present example also includeshandle assembly (20) and shaft assembly (30) discussed above in greaterdetail. Except as otherwise described below, end effector (412), inconjunction with handle assembly (20) and shaft assembly (30), isconfigured and operable similar to end effector (40) (see FIG. 1). Byway of example only, end effector (412) may have a length ofapproximately 40 mm and a width of approximately 7 mm. Alternatively,any other suitable dimension may be used.

End effector (412) of the present example includes a lower jaw (420) andan upper jaw (422), which forms an anvil (424). Upper jaw (422) ispivotally mounted relative to lower jaw (420) for receiving the tissuetherebetween. More particularly, anvil (424) is pivotable toward andaway from lower jaw (420) between an open position and a closed position(e.g., in response to pivotal movement of trigger (24) toward and awayfrom pistol grip (22)). For instance, in the present example, anvil(424) pivots about an axis that is defined by pins (not shown), whichslide along curved slots (not shown) of lower jaw (420) as anvil (424)moves toward lower jaw (420). In such versions, the pivot axistranslates along the path defined by slots (not shown) while anvil (424)simultaneously pivots about that axis. In addition or in thealternative, the pivot axis may slide along slots (not shown) first,with anvil (424) then pivoting about the pivot axis after the pivot axisslides a certain distance along the slots (not shown). Alternatively,some versions may provide pivotal movement of anvil (424) about an axisthat remains fixed and does not translate within a slot or channel, etc.In addition, upper jaw (422) has a first elongated channel (441)extending therethrough and a first plurality of indicia (474). Lower jaw(420) has a second elongated channel (439) extending therethrough and asecond plurality of indicia (476). Knife member (419) is configured toslide distally along the first and second elongated channels (441, 439)and has a first indicator (471) in the first elongated channel and asecond indicator (472) (see FIG. 14) in the second elongated channel(439). The first and second indicators (471, 472) in conjunction withthe first and second plurality of indicia (474, 476) are respectivelyconfigured to indicate a staple usage to an operator.

As best seen in FIGS. 11-13, lower jaw (420) of the present exampledefines a channel (426) that is configured to receive staple cartridge(418). Staple cartridge (418) may be inserted into channel (426), endeffector (412) may be actuated, and then staple cartridge (418) may beremoved and replaced with another staple cartridge (418). Lower jaw(420) thus releasably retains staple cartridge (418) in alignment withanvil (424) for actuation of end effector (412). In some alternativeversions, the components of staple cartridge (418) are fully integratedinto lower jaw (420) such that end effector (412) may only be used once.Other suitable forms that lower jaw (420) may take will be apparent tothose of ordinary skill in the art in view of the teachings herein. Inthe present example, lower and upper jaws (420, 422) extend to a distaltip (432), which is further defined by staple cartridge (418).

Staple cartridge (418) of the present example comprises a cartridge body(434) and a tray (436) (see FIG. 36) secured to an underside ofcartridge body (434). An upper side of cartridge body (434) presents adeck (438), against which tissue may be compressed when anvil (424) isin a closed position. In the present example, lower crush surface (416)is positioned along staple cartridge (418). However, it will beappreciated that lower crush surface (416), as well as cooperating uppercrush surface (414) may be alternatively positioned along end effector(412) for severing tissue via compression.

Cartridge body (434) further defines an elongated channel (439)extending through lower jaw (420) and linearly along a centerline (440)of end effector (412). Another elongated channel (441) defined by anvil(424) extends through upper jaw (422) and linearly along centerline(440), as well, for reasons discussed below in greater detail. Aplurality of staple pockets (442) follow a predetermined pattern alongdeck (438) on opposing sides of centerline (440). More particularly,staple cartridge (418) includes two longitudinally extending rows ofstaple pockets (442) on one side of centerline (440); and another set oftwo longitudinally extending rows of staple pockets (442) on the otherside of centerline (440). However, in some other versions, staplecartridge (418) may include three, one, or some other number of staplepockets (442) on each side of centerline (440).

One of a plurality of staples (444) is positioned in respective staplepockets (442). Adjacent rows of staple pockets (442) are configured tooverlap in a direction transverse to the centerline (440) in order toinstall the plurality of staples (444) within the tissue and inhibitopenings therebetween for improved ligation. In other words, aconsistent gap is maintained between adjacent staple pockets (442) forconsistent overlap in the present example. As used herein, the term“overlap” is intended to include one feature overlapping with another inat least one direction. Thus, a feature may be offset from anotherfeature and still overlap as described herein in the event that thesefeatures overlap in at least one plane, such as a transverse planeincluding the transverse direction. Other suitable forms that staplecartridge (418) may take will be apparent to those of ordinary skill inthe art in view of the teachings herein.

With respect to FIGS. 11-13, anvil (424) of the present example has aplurality of staple forming pockets (446). Each staple forming pocket(446) is positioned to lie over a corresponding staple pocket (442) ofstaple cartridge (418) when anvil (424) is in a closed position. Stapleforming pockets (446) are configured to deform each leg (448) of staples(444) when staples (444) are driven through tissue and into anvil (424).In particular, staple forming pockets (446) are configured to bend legs(448) of staples (444) to secure the formed staples (444) in the tissue.Other suitable forms that anvil (424) may take will be apparent to thoseof ordinary skill in the art in view of the teachings herein.

As best seen in FIG. 13, staple cartridge (418) includes staple drivers(452) positioned in staple pockets (442), underneath a correspondingstaple (444), and above tray (436) (see FIG. 36). As will be describedin greater detail below, staple drivers (452) are operable to translateupwardly in staple pockets (442) to thereby drive staples (444) upwardlythrough staple pockets (442) and into engagement with anvil (424).Staple drivers (452) are driven upwardly by a wedge sled (456), which iscaptured between cartridge body (434) and tray (436) (see FIG. 15), andwhich translates longitudinally through cartridge body (434) along apair of cam slots (457). Wedge sled (456) includes a cam ramp (458)having a leading cam surface (460), an intermediate cam surface (462),and a trailing cam surface (464). By way of example only, leading camsurface (460) may be angled at approximately 45° relative to ahorizontal plane; and intermediate cam surface (462) may be angled atapproximately 22° relative to a horizontal plane. Alternatively, anyother suitable angles may be used. Cam ramps (458) are generallyconfigured to engage staple drivers (452) and thereby drive stapledrivers (452) upwardly as wedge sled (456) translates longitudinallythrough staple cartridge (418) from a proximal sled position to a distalsled position. For instance, when wedge sled (456) is in the proximalsled position, staple drivers (452) are in downward positions andstaples (444) are located in staple pockets (442). As wedge sled (456)is driven to the distal sled position by translating knife member (419),wedge sled (456) drives staple drivers (452) upwardly, thereby drivingstaples (444) out of staple pockets (442) and into staple formingpockets (446). Thus, staple drivers (452) translate along respectivevertical planes as wedge sled (456) translates along a horizontal plane.

In the present example, knife member (419) is configured to translatethrough end effector (412). As best seen in FIG. 13, knife member (419)is secured to a distal end of firing beam (82), which extends through aportion of shaft assembly (30). Knife member (80) is positioned inchannels (439, 441) of staple cartridge (418) and anvil (424),respectively. Knife member (419) includes a distally presented cuttingedge (468) that is configured to sever tissue that is compressed betweenanvil (424) and deck (438) of staple cartridge (418) as knife member(419) translates distally through end effector (412). As noted above,knife member (419) also drives wedge sled (456) distally as knife member(419) translates distally through end effector (412), thereby drivingstaples (444) through tissue and against anvil (424) into formation.

1. Exemplary Shortened Distal End of Staple Cartridge

As shown in FIG. 14 and FIG. 15, wedge sled (456) slides distally untilits translational movement along centerline (440) is blocked by distaltip (432) of staple cartridge (418). As such, wedge sled (456)effectively parks underneath terminal staple drivers (452), which inconjunction with tray (436) define a storage space (506) for wedge sled(456) therebetween. In other words, distal tip (432), which may also bereferred to herein as a blocker wall (432) of lower jaw (420), inhibitsdistal movement of wedge sled (456) such that a majority of wedge sled(456) cannot slide distally beyond terminal staple drivers (452).Furthermore, a distal portion of cam ramps (458) of wedge sled (456) arereceived within a clearance hole (508), more particularly a pair oflower apertures (508) of distal tip (432), that further defines storagespace (506), such that only a minor distal portion of wedge sled (456)slides distally beyond staple drivers (452), as shown in FIG. 14 andFIG. 15. Moreover, cam surfaces (460, 462, 464) do not fully traversethe length of the crown of the distal-most staple (444).

Triple driver assembly (492), wedge sled (456), and distal tip (432) arethus collectively configured to reduce elongation of distal tip (432) ofend effector (412) for improved access to tissue within patients. First,distal staple driver (452) is cantilevered distally beyond driver cam(494) to increase the distal most position of staple (444), whileproviding additional storage space (506) defined underneath. Second,wedge sled (456) includes multiple leading and intermediate cam surfaces(460, 462) to result in the shortened length of cam ramp (458). Third,lower apertures (508) within distal tip (432) provide for finaltranslation along centerline (440) without further distal elongation ofdistal tip (432). Thereby, triple driver assembly (492), wedge sled(456), and distal tip (432) are each configured in part to reduce travelof wedge sled (456) and reduce elongation of distal tip (432) of endeffector (412) for improved access. In addition, the very closelongitudinal positioning of the distal-most staple pockets (446) todistal tip (432) will minimize the occurrence of tissue being severed bycrush surfaces (414, 416) at regions that are distal to the distal-moststaple (444).

2. Exemplary Method of Tissue Resection

FIGS. 16A-16E show one example of using end effector (412) to resecttissue, such as a liver parenchyma tissue (310), and to ligate a vesselor duct (316) therein. As noted above, vessel or duct (316) may comprisea hepatic vein or a hepatic artery. It should also be understood thatthe method may further include the use of end effector (412) to ligateother vessels such as the portal vein and extrahepatic vessels, etc.

As shown in FIG. 16B, the operator positions end effector (412) suchthat tissue (310), including vessel or duct (316), is located betweenlower and upper jaws (420, 422). The operator then compresses tissue(310) between upper and lower crush surfaces (414, 416) of upper andlower jaws (420, 422), respectively, to deliver the predetermined crushpressure to tissue (310). By way of example only, jaws (420, 422) may beactuated in this manner by pivoting trigger (24) toward pistol grip(22). It should be understood that jaws (420, 422) need not necessarilybe actuated to a fully closed configuration. In some instances, theoperator may rely on tactile feedback through trigger (24) and pistolgrip (22) to determine whether the operator has achieved a desired gapbetween jaws (420, 422) to suitably crush tissue (310) withoutundesirably damaging vessel or duct (316). In addition or in thealternative, the operator may rely on visual feedback.

In any case, the crush pressure applied by jaws (420, 422) effectivelysevers tissue (310), and the operator then removes end effector (412)from tissue (310) to view whether or not any vessels or ducts arepresent. As shown in FIG. 16C, vessel or duct (316) remains intact andis left exposed, extending between severed portions of tissue (310).

In some instances, the operator may leave vessel or duct (316) intact.However, in the present example, the operator ligates vessel or duct(316) to complete the resection of a severed portion of tissue (310), asshown in FIG. 16D. Ligation includes placement of at least some ofoverlapping staples (444) within vessel or duct (316) as discussed abovein greater detail. It should therefore be understood that the same endeffector (412) may be used to crush (and thereby sever) tissue (310) ofthe liver and also ligate a vessel or duct (316) in the tissue (310). Inthe present example, the vessel or duct (316) is stapled and severedsubstantially simultaneously by end effector (412), resulting in theconfiguration shown in FIG. 16E. As shown, the severed end (318) of thevessel or duct (316) is sealed by staples (444). Thereby, the operatorcompletes resection of a right portion of tissue (310) and thecorresponding portion of the vessel or duct (316).

As described above, the operator removes end effector (412) for viewingvessel (316) as shown in FIG. 16C. Alternatively, the operator may applythe predetermined crush pressure (or as determined based on tactileand/or visual feedback as noted above), as shown in FIG. 16B, andimmediately thereafter sever and ligate any tissue remaining therein,such as vessel or duct (316). As such, it is not necessary to view suchtissue, but the operator may find such viewing desirable in one or moreliver resection procedures. It will be appreciated that the abovedescribed resection is merely illustrative and not limited to livertissue. Alternatively, tissue resection with end effector (412) may beperformed on other tissues within the patient as desired by the user.

III. Exemplary Combinations

The following examples relate to various non-exhaustive ways in whichthe teachings herein may be combined or applied. It should be understoodthat the following examples are not intended to restrict the coverage ofany claims that may be presented at any time in this application or insubsequent filings of this application. No disclaimer is intended. Thefollowing examples are being provided for nothing more than merelyillustrative purposes. It is contemplated that the various teachingsherein may be arranged and applied in numerous other ways. It is alsocontemplated that some variations may omit certain features referred toin the below examples. Therefore, none of the aspects or featuresreferred to below should be deemed critical unless otherwise explicitlyindicated as such at a later date by the inventors or by a successor ininterest to the inventors. If any claims are presented in thisapplication or in subsequent filings related to this application thatinclude additional features beyond those referred to below, thoseadditional features shall not be presumed to have been added for anyreason relating to patentability.

EXAMPLE 1

A surgical instrument for treating a tissue of a patient, comprising:(a) a shaft assembly; (b) an end effector extending from the shaftassembly along a jaw centerline, the end effector comprising: (i) afirst jaw having an anvil configured to form a plurality of staplespressed against the anvil, and (ii) a second jaw, wherein the first andsecond jaws are configured to transition between an open configurationand a closed configuration; and (c) a staple cartridge received withinthe second jaw, the staple cartridge comprising: (i) a deck facing theanvil, wherein the deck defines a plurality of staple openings, whereinthe plurality of staples are positioned respectively within theplurality of staple openings, (ii) a first terminal driver assemblypositioned adjacent to a distal tip of the staple cartridge, wherein thefirst terminal driver assembly is configured to receive a first terminalportion of the plurality of staples, the first terminal driver assemblyat least partially defining a storage space therebelow within the secondjaw, and (iii) a wedge sled configured to slide proximate to the deckfrom a proximal sled position to a distal sled position and engage thefirst terminal driver assembly and force the terminal portion of theplurality of staples toward the anvil for formation in tissue, whereinat least a majority of the wedge sled is configured to fit within thestorage space and not slide distally beyond the first terminal driverassembly when the wedge sled is in the distal sled position.

EXAMPLE 2

The surgical instrument of Example 1, wherein the wedge sled furthercomprises a first cam ramp, the first cam ramp being configured toengage the first terminal driver assembly and force the terminal portionof the plurality of staples toward the anvil for formation in thetissue, wherein a majority of the first cam ramp is configured to fitwithin the storage space when the wedge sled is in the distal sledposition.

EXAMPLE 3

The surgical instrument of any one or more of Examples 1 through 2,wherein the wedge sled has a distal nose, wherein the second jaw has ablocker wall distally positioned therein along the centerline, whereinthe blocker wall is configured to receive the wedge sled thereagainstand inhibit movement of the wedge sled distally beyond the distal sledposition.

EXAMPLE 4

The surgical instrument of Example 3, wherein the blocker wall defines aclearance hole configured to receive the distal nose of the wedge sledin the distal sled position.

EXAMPLE 5

The surgical instrument of any one or more of Examples 1 through 4,wherein the wedge sled has a first cam ramp configured to engage thefirst terminal driver assembly, the first cam ramp further comprising:(A) a leading cam surface defining a steep angle slope, and (B) anintermediate cam surface defining a gradual angle slope, the gradualangle slope being angled less than the steep angle slope relative to thedeck, wherein the driver cam is configured to be engaged by the leadingcam surface to lift the driver assembly upward toward the first jaw overa relatively short distance for decreasing an elongation of the wedgesled, and wherein driver cam is further configured to be engaged by theintermediate cam surface to further lift the drive assembly upwardtoward the first jaw over a relatively long distance for providingenough force to compress the first and second staples against the anvilfor use in tissue.

EXAMPLE 6

The surgical instrument of any one or more of Examples 1 through 5,wherein the first terminal driver assembly has a first terminal distaldriver, a first terminal intermediate driver, and a first terminalproximal driver; wherein the first terminal distal driver, the firstterminal intermediate driver, and the first terminal proximal driversare operatively connected such that the first terminal distal driver isdistally cantilevered relative to the first terminal intermediate driverand the first terminal intermediate driver for a maximum elongation ofthe storage space therebelow, wherein the first terminal distal driveris adjacent to the distal tip of the staple cartridge.

EXAMPLE 7

The surgical instrument of Example 6, wherein the first terminal distaldriver, the first terminal intermediate driver, and the first terminalproximal driver are operatively connected such that the first terminaldistal driver and the first terminal proximal driver are longitudinallyaligned and the first terminal intermediate driver is transverselyoffset from each of the first terminal distal driver and the firstterminal proximal driver, wherein the first terminal distal driver, thefirst terminal intermediate driver, and the first terminal proximaldriver respectively receive the first terminal portion of the pluralityof staples.

EXAMPLE 8

The surgical instrument of any one or more of Examples 1 through 7,wherein the staple cartridge further comprises a second terminal driverassembly positioned adjacent to the distal tip and configured to receivea second terminal portion of the plurality of staples, the secondterminal driver assembly further defining the storage space therebelowwithin second jaw.

EXAMPLE 9

The surgical instrument of Example 8, wherein the second terminal driverassembly comprises a second terminal distal driver, a second terminalintermediate driver, and a second terminal proximal driver; wherein thesecond terminal distal driver, the second terminal intermediate driver,and the second terminal proximal drivers are operatively connected suchthat the second terminal distal driver is distally cantilevered relativeto the second terminal intermediate driver and the second terminalintermediate driver for a maximum elongation of the storage spacetherebelow, wherein the second terminal distal driver is adjacent to thedistal tip.

EXAMPLE 10

The surgical instrument of Example 9, wherein the first and secondterminal distal driver assemblies are positioned on opposing sides ofthe centerline.

EXAMPLE 11

The surgical instrument of Example 10, wherein the first and secondterminal distal driver assemblies are positioned such that the secondterminal distal driver assembly mirrors the first terminal distal driverassembly about the centerline.

EXAMPLE 12

The surgical instrument of any one or more of Examples 10 through 11,wherein the wedge sled has a first cam ramp and a second cam ramp,wherein the first cam ramp is configured to engage the first terminaldistal driver assembly, wherein the second cam ramp is configured toengage the second terminal distal driver assembly.

EXAMPLE 13

The surgical instrument of Example 12, wherein the first cam ramp has afirst distal nose, wherein the second cam ramp has a second distal nose,wherein the second jaw has a second jaw having a blocker wall distallypositioned therein along the centerline, wherein the blocker wall isconfigured to receive the wedge sled thereagainst and inhibit movementof the wedge sled distally beyond the distal sled position, wherein theblocker wall defines at least one clearance hole configured to receivethe first and second distal noses of the wedge sled in the distal sledposition.

EXAMPLE 14

The surgical instrument of any one or more of Examples 1 through 13,wherein the first jaw has a first elongated channel extendingtherethrough and a first plurality of indicia, wherein the second jawhas a second elongated channel extending therethrough and a secondplurality of indicia, the instrument further comprising a knife memberreceived within the first and second channels, wherein the knife memberis configured to slide distally the first and second channels and engagethe wedge sled for forming staples, wherein the knife member comprises afirst indicator in the first channel and a second indicator in thesecond channel, and wherein the first and second indicators inconjunction with the first and second plurality of indicia arerespectively configured to indicate a staple usage to an operator.

IV. Miscellaneous

It should be understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Theabove-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims.

It should be appreciated that any patent, publication, or otherdisclosure material, in whole or in part, that is said to beincorporated by reference herein is incorporated herein only to theextent that the incorporated material does not conflict with existingdefinitions, statements, or other disclosure material set forth in thisdisclosure. As such, and to the extent necessary, the disclosure asexplicitly set forth herein supersedes any conflicting materialincorporated herein by reference. Any material, or portion thereof, thatis said to be incorporated by reference herein, but which conflicts withexisting definitions, statements, or other disclosure material set forthherein will only be incorporated to the extent that no conflict arisesbetween that incorporated material and the existing disclosure material.

Versions of the devices described above may have application inconventional medical treatments and procedures conducted by a medicalprofessional, as well as application in robotic-assisted medicaltreatments and procedures. By way of example only, various teachingsherein may be readily incorporated into a robotic surgical system suchas the DAVINCI™ system by Intuitive Surgical, Inc., of Sunnyvale, Calif.Similarly, those of ordinary skill in the art will recognize thatvarious teachings herein may be readily combined with various teachingsof any of the following: U.S. Pat. No. 5,792,135, entitled “ArticulatedSurgical Instrument For Performing Minimally Invasive Surgery WithEnhanced Dexterity and Sensitivity,” issued Aug. 11, 1998, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.5,817,084, entitled “Remote Center Positioning Device with FlexibleDrive,” issued Oct. 6, 1998, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 5,878,193, entitled “Automated EndoscopeSystem for Optimal Positioning,” issued Mar. 2, 1999, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 6,231,565,entitled “Robotic Arm DLUS for Performing Surgical Tasks,” issued May15, 2001, the disclosure of which is incorporated by reference herein;U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool with UltrasoundCauterizing and Cutting Instrument,” issued Aug. 31, 2004, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.6,364,888, entitled “Alignment of Master and Slave in a MinimallyInvasive Surgical Apparatus,” issued Apr. 2, 2002, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 7,524,320,entitled “Mechanical Actuator Interface System for Robotic SurgicalTools,” issued Apr. 28, 2009, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,691,098, entitled “Platform Link WristMechanism,” issued Apr. 6, 2010, the disclosure of which is incorporatedby reference herein; U.S. Pat. No. 7,806,891, entitled “Repositioningand Reorientation of Master/Slave Relationship in Minimally InvasiveTelesurgery,” issued Oct. 5, 2010, the disclosure of which isincorporated by reference herein; U.S. Patent Pub. No. 2013/0012957,entitled “Automated End Effector Component Reloading System for Use witha Robotic System, published Jan. 10, 2013, now U.S. Pat. No. 8,844,789,issued Sep. 30, 2014, the disclosure of which is incorporated byreference herein; U.S. Patent Pub. No. 2012/0199630, entitled“Robotically-Controlled Surgical Instrument with Force-FeedbackCapabilities,” published Aug. 9, 2012, now U.S. Pat. No. 8,820,605,issued Sep. 2, 2014, the disclosure of which is incorporated byreference herein; U.S. Patent Pub. No. 2012/0132450, entitled “ShiftableDrive Interface for Robotically-Controlled Surgical Tool,” published May31, 2012, now U.S. Pat. No. 8,616,431, issued Dec. 31, 2013, thedisclosure of which is incorporated by reference herein; U.S. PatentPub. No. 2012/0199633, entitled “Surgical Stapling Instruments withCam-Driven Staple Deployment Arrangements,” published Aug. 9, 2012, nowU.S. Pat. No. 8,573,461, issued Nov. 5, 2013, the disclosure of which isincorporated by reference herein; U.S. Patent Pub. No. 2012/0199631,entitled “Robotically-Controlled Motorized Surgical End Effector Systemwith Rotary Actuated Closure Systems Having Variable Actuation Speeds,”published Aug. 9, 2012, now U.S. Pat. No. 8,602,288, issued Dec. 10,2013, the disclosure of which is incorporated by reference herein; U.S.Patent Pub. No. 2012/0199632, entitled “Robotically-Controlled SurgicalInstrument with Selectively Articulatable End Effector,” published Aug.9, 2012, now U.S. Pat. No. 9,301,759, issued Apr. 5, 2016, thedisclosure of which is incorporated by reference herein; U.S. PatentPub. No. 2012/0203247, entitled “Robotically-Controlled Surgical EndEffector System,” published Aug. 9, 2012 now U.S. Pat. No. 8,738,541,issued Jul. 22, 2014, the disclosure of which is incorporated byreference herein; U.S. Patent Pub. No. 2012/0211546, entitled “DriveInterface for Operably Coupling a Manipulatable Surgical Tool to aRobot,” published Aug. 23, 2012, now U.S. Pat. No. 8,479,969, issuedJul. 9, 2013; U.S. Patent Pub. No. 2012/0138660, entitled“Robotically-Controlled Cable-Based Surgical End Effectors,” publishedJun. 7, 2012, now U.S. Pat. No. 8,800,838, issued Aug. 12, 2014, thedisclosure of which is incorporated by reference herein; and/or U.S.Patent Pub. No. 2012/0205421, entitled “Robotically-Controlled SurgicalEnd Effector System with Rotary Actuated Closure Systems,” publishedAug. 16, 2012, now U.S. Pat. No. 8,573,465, issued Nov. 5, 2013, thedisclosure of which is incorporated by reference herein.

Versions of the devices described above may be designed to be disposedof after a single use, or they can be designed to be used multipletimes. Versions may, in either or both cases, be reconditioned for reuseafter at least one use. Reconditioning may include any combination ofthe steps of disassembly of the device, followed by cleaning orreplacement of particular pieces, and subsequent reassembly. Inparticular, some versions of the device may be disassembled, and anynumber of the particular pieces or parts of the device may beselectively replaced or removed in any combination. Upon cleaning and/orreplacement of particular parts, some versions of the device may bereassembled for subsequent use either at a reconditioning facility, orby a operator immediately prior to a procedure. Those skilled in the artwill appreciate that reconditioning of a device may utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

By way of example only, versions described herein may be sterilizedbefore and/or after a procedure. In one sterilization technique, thedevice is placed in a closed and sealed container, such as a plastic orTYVEK bag. The container and device may then be placed in a field ofradiation that can penetrate the container, such as gamma radiation,x-rays, or high-energy electrons. The radiation may kill bacteria on thedevice and in the container. The sterilized device may then be stored inthe sterile container for later use. A device may also be sterilizedusing any other technique known in the art, including but not limited tobeta or gamma radiation, ethylene oxide, or steam.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometries, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

We claim:
 1. A surgical instrument for treating a tissue of a patient,comprising: (a) a shaft assembly; (b) an end effector extending from theshaft assembly along a jaw centerline, the end effector comprising: (i)afirst jaw having an anvil configured to form a plurality of staplespressed against the anvil, and (ii) a second jaw, wherein the first andsecond jaws are configured to transition between an open configurationand a closed configuration; and (c) a staple cartridge received withinthe second jaw, the staple cartridge comprising: (i) a deck facing theanvil, wherein the deck defines a plurality of staple openings, whereinthe plurality of staples are positioned respectively within theplurality of staple openings, (ii) a first terminal driver assemblypositioned adjacent to a distal tip of the staple cartridge, wherein thefirst terminal driver assembly is configured to receive a first terminalportion of the plurality of staples, the first terminal driver assemblyat least partially defining a storage space directly therebelow withinthe second jaw, and (iii) a wedge sled configured to distally slideproximate to the deck from a proximal sled position to a distal-mostsled position, wherein the wedge sled has a first cam ramp configured toengage the first terminal driver assembly and force the terminal portionof the plurality of staples toward the anvil for formation in tissue,wherein the first cam ramp defines a distal length component dimension,wherein at least a majority of the distal length component dimension ofthe first cam ramp is configured to fit directly under the firstterminal driver assembly within the storage space when the wedge sled isin the distal-most sled position.
 2. The surgical instrument of claim 1,wherein the wedge sled has a distal nose, wherein the second jaw has ablocker wall distally positioned therein along the centerline, whereinthe blocker wall is configured to receive the wedge sled thereagainstand inhibit movement of the wedge sled distally beyond the distal-mostsled position.
 3. The surgical instrument of claim 2, wherein theblocker wall defines a clearance hole configured to receive the distalnose of the wedge sled in the distal-most sled position.
 4. The surgicalinstrument of claim 3, wherein the distal tip has a planar distalsurface.
 5. The surgical instrument of claim 4, wherein the planardistal surface is perpendicular to the deck.
 6. The surgical instrumentof claim 1, wherein the wedge sled has a bottom planar surface and thefirst cam ramp further comprises: (A) a leading cam surface defining afirst angle slope between the bottom surface and the leading camsurface, and (B) an intermediate cam surface defining a second angleslope between the bottom surface and the intermediate cam surface,wherein the first angle slope of the leading cam surface is greater thanthe second angle slope of the intermediate cam surface such that theleading cam surface is steeper than the intermediate cam surface,wherein the first terminal driver assembly is configured to be engagedby the leading cam surface to lift the first terminal driver assemblyupward a first upward distance toward the first jaw over a first distaldistance and wherein first terminal driver assembly is furtherconfigured to be engaged by the intermediate cam surface to further liftthe first terminal driver assembly upward a second upward distancetoward the first jaw over a second distal distance for providing enoughforce to compress the first terminal portion of the plurality staplesagainst the anvil for use in tissue, wherein the first upward distanceis greater than the second upward distance.
 7. The surgical instrumentof claim 6, wherein the first distal distance is less than the seconddistal distance.
 8. The surgical instrument of claim 6, wherein acombined distal distance of the first distal distance and the seconddistal distance equals the distal length component dimension of thefirst cam ramp.
 9. The surgical instrument of claim 1, wherein the firstterminal driver assembly has a first terminal distal driver, a firstterminal intermediate driver, and a first terminal proximal driver;wherein the first terminal distal driver, the first terminalintermediate driver, and the first terminal proximal drivers areoperatively connected such that the first terminal distal driver isdistally cantilevered relative to the first terminal intermediate driverand the first terminal intermediate driver, wherein the first terminaldistal driver is adjacent to the distal tip of the staple cartridge. 10.The surgical instrument of claim 9, wherein the first terminal distaldriver, the first terminal intermediate driver, and the first terminalproximal driver are operatively connected such that the first terminaldistal driver and the first terminal proximal driver are longitudinallyaligned and the first terminal intermediate driver is transverselyoffset from each of the first terminal distal driver and the firstterminal proximal driver, wherein the first terminal distal driver, thefirst terminal intermediate driver, and the first terminal proximaldriver respectively receive the first terminal portion of the pluralityof staples.
 11. The surgical instrument of claim 1, wherein the staplecartridge further comprises a second terminal driver assembly positionedadjacent to the distal tip and configured to receive a second terminalportion of the plurality of staples, the second terminal driver assemblyfurther defining the storage space directly therebelow within secondjaw.
 12. The surgical instrument of claim 11, wherein the secondterminal driver assembly comprises a second terminal distal driver, asecond terminal intermediate driver, and a second terminal proximaldriver; wherein the second terminal distal driver, the second terminalintermediate driver, and the second terminal proximal drivers areoperatively connected such that the second terminal distal driver isdistally cantilevered relative to the second terminal intermediatedriver and the second terminal intermediate driver, wherein the secondterminal distal driver is adjacent to the distal tip.
 13. The surgicalinstrument of claim 12, wherein the first and second terminal distaldriver assemblies are positioned on opposing sides of the centerline.14. The surgical instrument of claim 13, wherein the first and secondterminal distal driver assemblies are positioned such that the secondterminal distal driver assembly mirrors the first terminal distal driverassembly about the centerline.
 15. The surgical instrument of claim 13,wherein the wedge sled has a second cam ramp configured to engage thesecond terminal distal driver assembly.
 16. The surgical instrument ofclaim 15, wherein the first cam ramp has a first distal nose, whereinthe second cam ramp has a second distal nose, wherein the second jaw hashaving a blocker wall distally positioned therein along the centerline,wherein the blocker wall is configured to receive the wedge sledthereagainst and inhibit movement of the wedge sled distally beyond thedistal-most sled position, wherein the blocker wall defines at least oneclearance hole configured to receive the first and second distal nosesof the wedge sled in the distal-most sled position.
 17. The surgicalinstrument of claim 1, wherein the first jaw has a first elongatedchannel extending therethrough and a first plurality of indicia, whereinthe second jaw has a second elongated channel extending therethrough anda second plurality of indicia, the instrument further comprising a knifemember received within the first and second channels, wherein the knifemember is configured to slide distally the first and second channels andengage the wedge sled for forming staples, wherein the knife membercomprises a first indicator in the first channel and a second indicatorin the second channel, and wherein the first and second indicators inconjunction with the first and second plurality of indicia arerespectively configured to indicate a staple usage to an operator. 18.The surgical instrument of claim 1, wherein the inner end surface has atleast one aperture extending longitudinally therethrough, and whereinthe at least one aperture is configured to receive a distal portion ofthe wedge sled therein when the wedge sled is in the distal position.19. A staple cartridge for a surgical instrument, comprising: (a) adeck, wherein the deck defines a plurality of staple openings, wherein aplurality of staples are positioned respectively within the plurality ofstaple openings, (b) a first terminal driver assembly positionedadjacent to a distal tip of the staple cartridge, wherein the firstterminal driver assembly is configured to receive a first terminalportion of the plurality of staples, the first terminal driver assemblyat least partially defining a storage space directly therebelow, and (c)a wedge sled configured to distally slide proximate to the deck from aproximal sled position to a distal-most sled position, wherein the wedgesled has a first cam ramp configured to engage the first terminal driverassembly and force the terminal portion of the plurality of staples forstaple formation in tissue, wherein the first cam ramp defines a distallength component dimension, wherein at least a majority of the distallength component dimension of the first cam ramp is configured to fitdirectly under the first terminal driver assembly within the storagespace when the wedge sled is in the distal-most sled position.
 20. Asurgical instrument for treating a tissue of a patient, comprising: (a)a shaft assembly; (b) an end effector longitudinally extending from theshaft assembly, the end effector comprising: (i) a first jaw having ananvil configured to form a plurality of staples pressed against theanvil, and (ii) a second jaw, wherein the first and second jaws areconfigured to transition between an open configuration and a closedconfiguration; and (c) a staple cartridge received within the secondjaw, the staple cartridge comprising: (i) a distal tip having an innerend surface, (ii) a deck facing the anvil, wherein the deck defines aplurality of staple openings, wherein the plurality of staples arepositioned respectively within the plurality of staple openings, (iii) afirst terminal driver assembly positioned adjacent to the distal tip,wherein the first terminal driver assembly is configured to receive afirst terminal portion of the plurality of staples, the first terminaldriver assembly at least partially defining a storage space directlytherebelow within the second jaw, and (iv) a wedge sled defining alongitudinal length and configured to distally slide proximate to thedeck from a proximal sled position to a distal sled position and engagethe first terminal driver assembly and force the terminal portion of theplurality of staples toward the anvil for formation in tissue, whereinthe wedge sled in the distal position is engaged with the inner endsurface of the distal tip to inhibit further distal movement of thewedge sled, wherein at least a majority of the longitudinal length ofthe wedge sled is configured to fit directly under the first terminaldriver assembly within the storage space when the wedge sled is in thedistal sled position.